added local parameter handler to PdecConfig to store persistent parameters

bsp_q7s/fs/FilesystemHelper.cpp

@@ -22,7 +22,7 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
     }
   } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_1)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }

bsp_q7s/memory/LocalParameterHandler.cpp

@@ -8,7 +8,14 @@ LocalParameterHandler::~LocalParameterHandler() {
 }
 
 ReturnValue_t LocalParameterHandler::initialize() {
-	std::string mountPrefix = sdcMan->getCurrentMountPrefix();
+	std::string mountPrefix;
+	auto activeSd = sdcMan->getActiveSdCard();
+	if (activeSd and sdcMan->isSdCardUsable(activeSd.value())) {
+		mountPrefix = sdcMan->getCurrentMountPrefix();
+	} else {
+		return SD_NOT_READY;
+	}
+	mountPrefix = sdcMan->getCurrentMountPrefix();
 	std::string fullname = mountPrefix + "/" + sdRelativeName;
 	setFullName(fullname);
 	ReturnValue_t result = readJsonFile();

bsp_q7s/memory/LocalParameterHandler.h

@@ -13,6 +13,10 @@
  */
 class LocalParameterHandler : public NVMParameterBase {
  public:
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_PARAM_HANDLER;
+
+	static constexpr ReturnValue_t SD_NOT_READY = returnvalue::makeCode(INTERFACE_ID, 0);
 	/**
 	 * @brief	Constructor
 	 *

linux/fsfwconfig/returnvalues/classIds.h

@@ -15,6 +15,7 @@ enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
   SD_CARD_MANAGER,  // SDMA
   SCRATCH_BUFFER,   // SCBU
+	LOCAL_PARAM_HANDLER, // LPH
   CLASS_ID_END      // [EXPORT] : [END]
 };
 }

linux/ipcore/PdecConfig.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "pdecconfigdefs.h"
 
-PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig", SdCardManager::instance()) {}
+PdecConfig::PdecConfig() : localParameterHandler("conf/pdecconfig.json", SdCardManager::instance()) {}
 
 PdecConfig::~PdecConfig() {}
 
@@ -35,15 +35,13 @@ ReturnValue_t PdecConfig::write() {
 
 ReturnValue_t PdecConfig::initializePersistentParameters() {
   ReturnValue_t result = localParameterHandler.initialize();
-  if (result != returnvalue::OK) {
-    if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
-      result = createPersistentConfig();
-      if (result != returnvalue::OK) {
-        return result;
-      }
-    }
-  }
-  return returnvalue::OK;
+	if (result == HasFileSystemIF::FILE_DOES_NOT_EXIST) {
+		result = createPersistentConfig();
+		if (result != returnvalue::OK) {
+			return result;
+		}
+	}
+  return result;
 }
 
 ReturnValue_t PdecConfig::createPersistentConfig() {

linux/ipcore/PdecHandler.cpp

@@ -77,22 +77,6 @@ ReturnValue_t PdecHandler::initialize() {
     return returnvalue::FAILED;
   }
 
-  result = pdecConfig.write();
-  if (result != returnvalue::OK) {
-    sif::error << "PdecHandler::initialize: Failed to write PDEC config" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  result = releasePdec();
-  if (result != returnvalue::OK) {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  // This configuration must be done while the PDEC is not held in reset.
-  if (OP_MODE == Modes::IRQ) {
-    // Configure interrupt mask register to enable interrupts
-    *(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
-  }
   result = actionHelper.initialize(commandQueue);
   if (result != returnvalue::OK) {
     return result;
@@ -101,6 +85,36 @@ ReturnValue_t PdecHandler::initialize() {
   return returnvalue::OK;
 }
 
+ReturnValue_t PdecHandler::firstLoop() {
+	ReturnValue_t result = pdecConfig.write();
+	if (result != returnvalue::OK) {
+		if (result == LocalParameterHandler::SD_NOT_READY) {
+			return result;
+		} else {
+			sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
+		}
+		return returnvalue::FAILED;
+	}
+
+	result = releasePdec();
+	if (result != returnvalue::OK) {
+		return returnvalue::FAILED;
+	}
+
+	// This configuration must be done while the PDEC is not held in reset.
+	if (OP_MODE == Modes::IRQ) {
+		// Configure interrupt mask register to enable interrupts
+		*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
+	}
+	result = resetFarStatFlag();
+	if (result != returnvalue::OK) {
+		// Requires reconfiguration and reinitialization of PDEC
+		triggerEvent(INVALID_FAR);
+		return result;
+	}
+	return returnvalue::OK;
+}
+
 ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
   if (OP_MODE == Modes::POLLED) {
     return polledOperation();
@@ -111,19 +125,11 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t PdecHandler::polledOperation() {
-  ReturnValue_t result = returnvalue::OK;
   readCommandQueue();
 
   switch (state) {
     case State::INIT:
-      resetFarStatFlag();
-      if (result != returnvalue::OK) {
-        // Requires reconfiguration and reinitialization of PDEC
-        triggerEvent(INVALID_FAR);
-        state = State::WAIT_FOR_RECOVERY;
-        break;
-      }
-      state = State::RUNNING;
+    	handleInitState();
       break;
     case State::RUNNING:
       if (newTcReceived()) {
@@ -143,7 +149,6 @@ ReturnValue_t PdecHandler::polledOperation() {
 
 // See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
-  ReturnValue_t result = returnvalue::OK;
   int fd = open(uioNames.irq, O_RDWR);
   if (fd < 0) {
     sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
@@ -166,14 +171,7 @@ ReturnValue_t PdecHandler::irqOperation() {
     readCommandQueue();
     switch (state) {
       case State::INIT:
-        result = resetFarStatFlag();
-        if (result != returnvalue::OK) {
-          // Requires reconfiguration and reinitialization of PDEC
-          triggerEvent(INVALID_FAR);
-          state = State::WAIT_FOR_RECOVERY;
-          return result;
-        }
-        state = State::RUNNING;
+        handleInitState();
         break;
       case State::RUNNING: {
         checkAndHandleIrqs(fd, info);
@@ -194,6 +192,27 @@ ReturnValue_t PdecHandler::irqOperation() {
   return returnvalue::OK;
 }
 
+void PdecHandler::handleInitState() {
+	ReturnValue_t result = firstLoop();
+	if (result != returnvalue::OK) {
+		if (result == LocalParameterHandler::SD_NOT_READY) {
+			TaskFactory::delayTask(400);
+			if (initTries == MAX_INIT_TRIES) {
+				sif::error << "PdecHandler::handleInitState: SD card never "
+						"becomes ready"
+						<< std::endl;
+				state = State::WAIT_FOR_RECOVERY;
+				return;
+			} else {
+				state = State::INIT;
+				return;
+			}
+		}
+		state = State::WAIT_FOR_RECOVERY;
+	}
+	state = State::RUNNING;
+}
+
 ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
   ssize_t nb = write(fd, &info, sizeof(info));
   if (nb != static_cast<ssize_t>(sizeof(info))) {

linux/ipcore/PdecHandler.h

@@ -169,6 +169,8 @@ class PdecHandler : public SystemObject,
   static const uint32_t NO_RF_MASK = 0x8000;
   static const uint32_t NO_BITLOCK_MASK = 0x4000;
 
+  static const uint32_t MAX_INIT_TRIES = 20;
+
   class ParameterId {
 		public:
 			// ID of the parameter to update the positive window of AD frames
@@ -258,6 +260,16 @@ class PdecHandler : public SystemObject,
 
   PdecConfig pdecConfig;
 
+  uint32_t initTries = 0;
+
+  /**
+   * @brief	Performs initialization stuff which must be performed in first
+   * 				loop of running task
+   *
+   * @return OK if successful, otherwise FAILED
+   */
+  ReturnValue_t firstLoop();
+
   /**
    * @brief   Reads and handles messages stored in the commandQueue
    */
@@ -265,6 +277,7 @@ class PdecHandler : public SystemObject,
 
   ReturnValue_t polledOperation();
   ReturnValue_t irqOperation();
+  void handleInitState();
   ReturnValue_t checkAndHandleIrqs(int fd, uint32_t& info);
 
   uint32_t readFar();

mission/devices/PayloadPcduHandler.cpp

@@ -664,7 +664,7 @@ ReturnValue_t PayloadPcduHandler::getParameter(uint8_t domainId, uint8_t uniqueI
 }
 
 void PayloadPcduHandler::handleFailureInjection(std::string output, Event event) {
-  sif::info << "PayloadPcduHandler::checkAdcValues: " << output
+  sif::info << "PayloadPcduHandler::handleFailureInjection: " << output
             << " failure injection. "
                "Transitioning back to off"
             << std::endl;